这篇文章节选自外刊《科学》（science advances ? 11 mar 2022 ? vol 8, issue 10）miniature coiled artificial muscle for wireless soft medical devices——用于无线软医疗设备的微型环绕人工肌肉。

论文节选内容如下：

miniature coiled artificial muscle for wireless soft medical devices

用于无线软医疗设备的微型环绕人工肌肉

wireless small-scale soft-bodied devices are capable of precise operation inside confined internal spaces, enabling various minimally invasive medical applications.

无线小型软体设备可以在有限的内部空间内精确操作，撑持各种微创医疗使用。

however, such potential is constrained by the small output force and low work capacity of the current miniature soft actuators.

可是，这种潜力遭到其时微型软致动器的小输出力和低作业才能的捆绑。

to address this challenge, we report a small-scale soft actuator that harnesses the synergetic interactions between the coiled artificial muscle and radio frequency–magnetic heating.

为了应对这一应战，咱们陈述了一种小型软致动器，它使用了环绕人工肌肉和射频磁加热之间的协同交互作用。

this wirelessly controlled actuator exhibits a large output force (~3.1 n) and high work capacity (3.5 j/g).

这种无线控制的致动用具有较大的输出力(~3.1 n)和较高的作业才能(3.5 j/g)。

combining this actuator with different mechanical designs, its tensile and torsional behaviors can be engineered into different functional devices, such as a suture device, a pair of scissors, a driller, and a clamper.

将这种致动器与不一样的机械方案相联系，其拉伸和改变行为可以被方案成不一样的功用设备，例如缝合设备、剪刀、钻床和夹钳。

in addition, by assuming a spatially varying magnetization profile, a multilinked coiled muscle can have both magnetic field–induced bending and high contractile force.

此外，经过假定一个空间改变的磁化剖面，多线曲折肌肉可以一起具有磁场诱导的曲折和高缩短力。

such an approach could be used in various future untethered miniature medical devices.

这种办法可以用于各种将来的无线微型医疗设备。

要点词汇

miniature小于正常标准的；细小的；微型的；极小的；小型物；微缩模型；缩影；微型画；小画像；小瓶酒；小栽培物；画饰；花字；是…的缩影；是…的微缩模型；使变成微型

coiled卷成圈；环绕；使成螺旋状；成圈状；(coil的曩昔式和曩昔分词)

medical devices医疗设备；医疗设备；医用设备

soft-bodied软体的

minimally最低极限地；最低程度地

harnesses使用；控制；打点；披上甲胄；（harness的第三人称奇数）；马具；挽具；平安带；甲胄；（harness的复数）

synergetic协作的；协作的；协同作

用的

radio frequency射频；无线电频率

torsional改变的；扭力的

engineered方案；制造；精心组织；策划；改动（生物体）的遗传性状；（engineer的曩昔式和曩昔分词）

wireless small-scale soft-bodied medical devices that are several millimeters or smaller can safely and adaptively navigate through confined spaces, such as those inside the human body.

几毫米或更小的无线小型软体医疗设备可以平安、自习气地在密闭空间中导航，比方人体内的密闭空间。

this unique capability can potentially be disruptive in diverse medical applications, such as minimally invasive surgery and local and on-demand therapeutic operations.

这种一起的才能可以会在各种医疗使用中构成潜在的损坏，如微创手术、部分和按需医治手术。

various optical, thermal, and acoustic soft actuation methods have been explored for such untethered miniature soft-bodied devices.

我们现已探究了各种光学、热学和声学软驱动办法，用于这种无捆绑的微型软体设备。

while the softness does endow these actuators with the capability to have large programmed deformations and safe interaction with the environment, it also limits their output force and weight-normalized work capacity (mentioned as “work capacity” hereafter).

尽管柔软性的确赋予这些致动用具有大的程序变形和与环境平安彼此作用的才能，但它也捆绑了它们的输出力和分量标准化作业才能(下文中称为“作业才能”)。

typically, soft actuators exhibit small force output and large deformation.

一般，软致动器体现出小的力输出和大的变形。

the material softness makes it hard to store and release large amounts of mechanical energy; hence, they cannot be used in device and robot applications requiring large force output and high work capacity.

材料的柔软性使其难以储存和开释许多的机械能；因而，它们不能用于需要大的力输出和高作业才能的设备和机器人使用中。

for example, the output force of the existing magnetic soft

actuators were calculated to saturate at around 60 μn (see “calculation of the force and work capacity of the magnetic soft actuator” section; figs. s1 and s2), irrespective of increasing the external magnetic field amplitude.

例如，核算现有磁性软致动器的输出力，使其饱满在60μn支配（参见“磁性软致动器的力和作业才能核算”一节；图s1和s2），而不思考外部磁场振幅的添加。

on the contrary, some medical procedures, such as pinching, clamping, and cutting, require devices with much higher force output (> 1 n), which is ~105 times higher than the maximum capacity of the previously reported magnetic soft actuators.

相反，一些医期间序，如揉捏、夹紧和切开，需要具有高得多的力输出(> 1 n)的设备，这比之前报导的磁性软致动器的最大容量高约105倍。

要点词汇

soft-bodied软体的

medical devices医疗设备；医疗设备；医用设备

millimeters毫米；（millimeter的复数）

disruptive制造紊乱的；损坏的；立异的；改造；拓荒性的；别出机杼的

on-demand按需的；应顾客需求即可供给的；可点播的

actuation影响；激动；教唆

softness温柔；柔软；柔软

endow向（人；机构）捐赠；赞助；赋予；给予；捐资树立

deformations变形；变形；（deformation的复数）

normalized标准化的；使标准化；使正常化；（normalize的曩昔式）

at the centimeter and larger length scales, coiled artificial muscles have been promising actuators that can be fabricated by continuously twisting polymer fibers into a coiled shape.

在公分和更大的长度标准上，环绕的人工肌肉现已变成很有出路的致动器，其可以经过将聚合物纤维接连歪曲成环绕形状来制造。

recent works have proposed that the coiled muscles can have higher work capacity and larger output force than several popular actuation approaches.

迩来的研讨标明，与几种常用的驱动办法比较，环绕肌肉具有更高的作业才能和更大的输出力。

specifically, the coiled muscles can have 50 times larger work capacity than the biological skeletal muscles and can deliver force output more than 1000 times of their own weight when composed of carbon nanotubes, shape memory polymers, and fishing lines.

具体而言，当由碳纳米管、形状回想聚合物和垂钓线构成时，环绕的肌肉可以具有比生物骨骼肌大50倍的作业才能，而且可以传递跨越其本身分量1000倍的力输出。

in addition, their output force and the work capacity can be greatly enhanced by tailoring the component or the structure of the precursor fiber of the muscle, such as adding the graphene oxide (go) platelets inside to the precursor fiber or designing a tough sheath on its surface, which are poised to advance the fields of humanoid robots, prosthetic limbs, and microfluidic devices.

此外，经过定制肌肉前体纤维的成分或规划，可以大大前进它们的输出力和作业才能，例如将氧化石墨烯(go)片晶添加到前体纤维内部或在其表面方案一个坚韧的鞘，这将推进人形机器人、假肢和微流体设备领域的打开。

要点词汇

centimeter公分

coiled卷成圈；环绕；使成螺旋状；成圈状；(coil的曩昔式和曩昔分词)

fabricated设备式的；制造；编造；（fabricate的曩昔分词）

twisting捻；（twist的如今分词方法）；扭动；拧；扭伤；歪曲；改变；环绕；翘曲；环绕的；曲折的；滚动的

actuation影响；激动；教唆

skeletal骨骼的；具有骨骼功用的；瘦骨嶙峋的；虚弱的；大纲的；梗概的

nanotubes奈米电子管；（nanotube的复数）

shape memory形状回想

tailoring成衣业；成衣手工；成衣技能

graphene石墨烯

here, we integrate coiled artificial muscles into wireless miniature soft medical devices to extend their medical applications to the ones that require an integrated tool with a large output force and high work capacity.

在这儿，咱们将环绕式人工肌肉集成到无线微型软医疗设备中，将其医疗使用拓宽到需要大输出力和高作业才能的集成东西的医疗领域。

we propose coiled artificial muscles that are composed of a trilayer structure: muscle core, active sheath, and protective sheath.

咱们提出了由三层规划构成的环绕人工肌肉:肌肉中心、活动鞘和维护鞘。

each layer has a specific function.

每一层都有特定的功用。

the muscle core is used to form the coiled structure of the fiber in the continuous twisting process.

肌芯用于在接连加捻进程中构成纤维的环绕规划。

in the critical active sheath, the embedded go and superparamagnetic fe3o4 nanoparticles increase the sheath toughness and enable radio frequency (rf)–magnetic field–based wireless heating, respectively.

在临界活性鞘中，嵌入的go和超顺磁性fe3o4纳米颗粒别离添加了鞘的耐性并完成了根据射频(rf)-磁场的无线加热。

the function of the protective sheath is to mechanically and thermally reduce the direct exposure of the inner layers to the external environment.

维护套的功用是以机械和热方法削减内层直接露出在外部环境中。

such trilayer design, together with the introduction of the magnetic nanoparticles and go, contributes to the untethered actuation with a large force output (~3.1 n) and high work capacity (~3.5 kj/kg).

这种三层方案，加上磁性纳米颗粒和go的引入，有助于完成无捆绑驱动，具有大的力输出(~3.1 n)和高的作业才能(~3.5 kj/kg)。

by integrating this muscle to different medical devices, various wireless miniature medical devices, such as a suture device, scissor, and driller, that require high force output and work capacity are possible.

经过将这一肌肉联系到不一样的医疗设备上，可以完成各种无线微型医疗设备，如缝合设备、剪刀、钻孔机等需要高力输出和作业才能的设备。

furthermore, actuation strain, output force, and work capacity of the muscle can be further amplified by integrating with an energy-storing bistable structure.

此外，经过能量存储双稳态规划的集成，可以进一步扩展肌肉的驱动应变、输出力和作业才能。

to demonstrate this, a miniature clamper with a 14 n output force is designed for tissue pinching and wound clamping.

为了证明这一点，方案了一个输出力为14 n的微型夹钳，用于组织夹紧和伤口夹紧。

in addition, the coiled muscle can be coated with an extra magnetization sheath with neodymium-iron-boron (ndfeb) and poly(dimethylsiloxane) (pdms) soft composite.

此外，环绕的肌肉可以用具有钕铁硼(ndfeb)和聚二甲基硅氧烷(pdms)软复合材料的额定磁化护套涂覆。

thus, magnetization profile can be encoded in a multilinked coiled muscle to enable magnetic deformation and high output contractile force.

因而，磁化曲线可以编码在一个多线的环绕肌肉中，以完成磁变形和高输出缩短力。

要点词汇

coiled卷成圈；环绕；使成螺旋状；成圈状；(coil的曩昔式和曩昔分词)

muscles肌肉；（muscle的复数）；用力挪动转移（物体）；硬挤；（muscle的第三人称奇数）

miniature小于正常标准的；细小的；微型的；极小的；小型物；微缩模型；缩影；微型画；小画像；小瓶酒；小栽培物；画饰；花字；是…的缩影；是…的微缩模型；使变成微型

medical devices医疗设备；医疗设备；医用设备

sheath紧贴掩盖物；避孕套；紧身女装；鞘；护皮；护套；阴茎套

twisting捻；（twist的如今分词方法）；扭动；拧；扭伤；歪曲；改变；环绕；翘曲；环绕的；曲折的；滚动的

toughness健旺；坚韧；有粘性；耐性

radio frequency射频；无线电频率

mechanically机械地；呆板地；物理上地

thermally用热的办法；热地

indeed, previous work has used the microwave to wirelessly drive coiled muscles without sheath structure.

实际上，早年的作业现已运用微波无线驱动无鞘规划的环绕肌肉。

to enhance the output performance of the coiled muscle, mu et al. have used hot air to drive sheath structures.

为了前进环绕肌肉的输出功能，mu等人现已运用热空气来驱动鞘规划。

in comparison, the coiled muscles reported here combine wireless actuation with sheath structures to improve its performance.

比较之下，这儿报导的环绕肌肉将无线驱动与护套规划相联系，以前进其功能。

in addition, the fe3o4 nanoparticles used can introduce rf magnetic heating more likely being used in biomedical applications than the microwave.

此外，运用的fe3o4纳米颗粒可以引入射频磁加热，与微波比较，更可以用于生物医学使用。

in comparison with the conventional magnetic soft actuator, the coiled muscle adds tensile and torsional motion to the conventional magnetic soft actuator, enriching its design space and application fields.

与传统的磁性软致动器比较，曲折肌肉为传统的磁性软致动器添加了拉伸和改变运动，丰厚了其方案空间和使用领域。

it has a 2 × 105-fold increase in force output and a 1.75 × 104-fold increase in work capacity (table 1).

它的力输出添加了2 × 105倍，作业才能添加了1.75 × 104倍(表1)。

by using this proposed coiled muscle, we have proposed five miniature device prototypes to make good use of this coiled muscle for potential practicality.

经过运用这儿提出的环绕肌肉，咱们现已提出了五个微型设备原型，以充分使用这种环绕肌肉的潜在有用性。

such coiled muscle actuator can potentially be used in a variety of untethered miniature soft medical device and robot applications, expanding the current capabilities of the previously proposed wireless miniature soft medical devices and robots.

这种环绕肌肉致动器可以潜在地用于各种无缆微型软医疗设备和机器人使用中，拓宽了先条件出的无线微型软医疗设备和机器人的其时才能。

要点词汇

coiled卷成圈；环绕；使成螺旋状；成圈状；(coil的曩昔式和曩昔分词)

sheath紧贴掩盖物；避孕套；紧身女装；鞘；护皮；护套；阴茎套

hot air揄扬；空谈

actuation影响；激动；教唆

biomedical生物医学的

in comparison with比较于；比照；比照于

torsional改变的；扭力的

enriching使肥美；使充分；使充足；使赋有；（enrich的如今分词方法）；浓缩

fold折叠；对折；包进；裹入；关闭；歇业；把…圈在栏中；翻开；抱；拥抱；褶；裥；折痕；折缝；家畜圈；羊栏；肌肤褶皱；地上高低；小丘陵；岩层褶皱

in work作业；作业；作业中

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